diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index c9324d9374..4216c1cb2b 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -54,25 +54,10 @@ public:
     
     // Constructor
     AP_AHRS() :
-        roll(0.0f),
-        pitch(0.0f),
-        yaw(0.0f),
-        roll_sensor(0),
-        pitch_sensor(0),
-        yaw_sensor(0),
         _vehicle_class(AHRS_VEHICLE_UNKNOWN),
-        _compass(nullptr),
-        _optflow(nullptr),
-        _airspeed(nullptr),
-        _beacon(nullptr),
-        _compass_last_update(0),
         _cos_roll(1.0f),
         _cos_pitch(1.0f),
-        _cos_yaw(1.0f),
-        _sin_roll(0.0f),
-        _sin_pitch(0.0f),
-        _sin_yaw(0.0f),
-        _active_accel_instance(0)
+        _cos_yaw(1.0f)
     {
         _singleton = this;
 
@@ -86,12 +71,6 @@ public:
         // enable centrifugal correction by default
         _flags.correct_centrifugal = true;
 
-        // initialise _home
-        _home.options    = 0;
-        _home.alt        = 0;
-        _home.lng        = 0;
-        _home.lat        = 0;
-
         _last_trim = _trim.get();
         _rotation_autopilot_body_to_vehicle_body.from_euler(_last_trim.x, _last_trim.y, 0.0f);
         _rotation_vehicle_body_to_autopilot_body = _rotation_autopilot_body_to_vehicle_body.transposed();
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 0c30b7f048..87978a94da 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -25,28 +25,10 @@ class AP_AHRS_DCM : public AP_AHRS {
 public:
     AP_AHRS_DCM()
         : AP_AHRS()
-        , _omega_I_sum_time(0.0f)
-        , _renorm_val_sum(0.0f)
-        , _renorm_val_count(0)
         , _error_rp(1.0f)
         , _error_yaw(1.0f)
-        , _gps_last_update(0)
-        , _ra_deltat(0.0f)
-        , _ra_sum_start(0)
-        , _last_declination(0.0f)
         , _mag_earth(1, 0)
-        , _have_gps_lock(false)
-        , _last_lat(0)
-        , _last_lng(0)
-        , _position_offset_north(0.0f)
-        , _position_offset_east(0.0f)
-        , _have_position(false)
-        , _last_wind_time(0)
-        , _last_airspeed(0.0f)
-        , _last_consistent_heading(0)
         , _imu1_weight(0.5f)
-        , _last_failure_ms(0)
-        , _last_startup_ms(0)
     {
         _dcm_matrix.identity();
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 3ee3f485f8..f778c39bc7 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -36,9 +36,6 @@ AP_AHRS_NavEKF::AP_AHRS_NavEKF(NavEKF2 &_EKF2,
     AP_AHRS_DCM(),
     EKF2(_EKF2),
     EKF3(_EKF3),
-    _ekf2_started(false),
-    _ekf3_started(false),
-    _force_ekf(false),
     _ekf_flags(flags)
 {
     _dcm_matrix.identity();